耐火砖砖坯抓取机械手的结构设计说明书.doc

PAGE II 摘 要 简述了耐火砖砖坯抓取机器人械手的发展现状及发展前景。通过资料搜集分析归纳，对比分析各种耐火砖砖坯抓取机器人械手结构功能原理特点，经计算对本设计坐标原点机器人进行整体结构设计和机械传动部分、机架、驱动部分方案选取及设计、电机选型。并重点对机械臂结构功能原理进行分析设计。使其能够适应16块耐火砖及底板等物料的抓取、抓取等功能。对重要部件进行强度校核和稳定性分析。对耐火砖砖坯抓取机器人械手控制部分设计。 实现物料的输送定位、自动抓取、自动提升降落，整机易于操控。对各部分零件材质选取。满足抓取功能前提下实现结构紧凑，工作稳定，使用维护方便。对关键传动零部件强度刚度校核，满足工作负载。 各部件材质选取考虑轻便经济，满足载荷要求下，体现批量制造经济性。并用计算机绘图软件绘制装配图及主要零部件零件图。利用三维制图软件进行三维建模制作爆炸图，对坐标原点系耐火砖砖坯抓取机器人械手及相关抓取设备的研究具有积极的意义。 关键词：抓取机器人械手；伺服电机；机械手臂；solidworks2016 Abstract The development status and development prospects of small palletizing robots are briefly described. Through data collection, analysis and analysis, and comparative analysis of the structure and function of various palletizing robots, the overall structural design of the Cartesian coordinate robot and the selection and design of the mechanical transmission part, the frame and the drive part, and the motor selection are calculated. And focus on the analysis and design of the functional principle of the mechanical arm structure. To enable it to adapt to 5kg flour and other materials, such as grasping, palletizing and other functions. Strength check and stability analysis of important parts. The design of the control part of the palletizing robot. It realizes the positioning of materials, automatic grabbing, automatic lifting and landing, and the whole machine is easy to control. Select the material of each part. The compact structure, stable operation and convenient use and maintenance are realized under the premise of satisfying the palletizing function. Check the strength of the key transmission components to meet the workload. The selection of materials for each component takes light economy into consideration and meets load requirements, reflecting the economics of mass manufacturing. And use computer graphics software to draw assembly drawings and parts drawings of major components. The use of three-dimensional mapping software for three-dimensional modeling to produce explosion maps has positive significan